Stabilizing device



J fi, 6, 1925.

R. GIRARDELLI STABILIZING DEVI GE Filed May 5, 1920 ""18 Wi ed/1% 6 {3169,4164

Patented Jan. 6, 1925.

UNIT-ED RIccir-Rno GIRKRDELLI, or 1 ROME, "ITALY. I

' S'IAIBILIZ'ING (DEVICE.

.epplica-tion filcd. May-i3, 1920. Serial No. 378,637.

To all whom/it may concern Be itknown that ;I, RrooARDo. GIRARDELLI, a subjectof therKing of It al:y,.residing, at Rome, in ,the .Kingdom of Italy, have in 5 vented certain new and useful Improvements :in Stabilizing :Devices, of which the following is a specification.

It is knownthat a direction maybe individuated in 'spaceby a zenithal 'and by an in azimuthal angle which are readupon graduated circles, these latter being respectively mounted upon .a verticaland upon .ahorizontal support.

' Thepresent invention relates to a device 1 toinindividuating directionrintspace in the casethat the supports carryingthegraduatedcircles are movable in respect o'f-Et-he (llI'BCtlODtO be'individuated.

Hereinafter an embodiment ofthe inveni tion will bedescribed showing. the device as applied to order-transmitters for naval guns in order tokeep steady the direction of the gun axle notwithstanding the rolling and the pitching of theship; but it will be understood that whatever. he the application of said device to apparatuses intendedto individuate and keep steady a direction in space,'it will stillfall within the scope of the present invention.

In navel guns, the different movements of which are controlled from a distant station by means of well known devices, "called order-transmitters,:the transmission of the firing data, i.,e.,ot.the angles-of-elevation 1- and direction of the pieces in laying them,

is usually eflectcd without taking intoconsideration the oscillat-ionsof the ship,that is to say, the data are furnished fromfthe controlling station assuming that the sup- 4 port of the pieces be steady, ,andmotorsracting upon the pieces impart tothem the direction and elevation required by causing them to turn about two axis invariably con nected with the ship and which under-normal conditions, that is when the ship ison an even keel, are supposed to be one horizontal and the other vertical; from which it follows that when the sea is rough :and the ship rolls andpitches, the angles formed bv the pieces when they are fired, referred to the true vertical and to the: horizon, do not correspond to those that the pieces should actually form, since these, owing to the aforesaid movements do not keep in space L a determined andconstant direction. ,Hence ting; line,; leading the (firingl under sucheo ditmns; be omes-rinaccurate-and veryldiilicult. The -above said difiic lties may bero er om according with this invention, by inserting; on thegtriansmitfrom-the transmitting sta tion to the. gun,a'device-comprising:,

A reference plane, I for instance ,the

rotation plane or a,gyr oscope cardanically suspended and having .suoh a .degree of liberty as to .keepits irotation axis in afconsta-nt vertical direction irrespective oit the movements of the movable support ccnnecting thegyroscope with 'the ship. 1

(,b A movable pointer which, ,with. reference to the invariable ;p1ane.of rotation of the gyroscope, may be given ,an "inclination and a direction corresponding to those which. are to be assumed .a d rriainta'med by the piece axle.

(c)- Electrical means tor ..ascertaining and continuously transmitting to the gun rotations equal and contrary to those the pointer set, trimmed withrespectto theinvariable plane ofthe gyroscope,, pertorms, owing to the rolling and pitching of the ship, with respect'to a plane connected with the ship andparallel tothat with reference to which have-been ,given to. the;. gun; the elevation and direction indicatedib'y the. order transmitting station. i

It is clear that in this way Jthe .,gu;n,rby always performing rotations equa l ,zantl con trary to those oftheship, maintains in the same manner as the pointer connected with the gyroscope a determined andv constant- 1direction, and firing; may, take, placewi'th the guns accurately set in the-same wayas i'f the ship were at rest on a perfect even keel. V In the a-nnexed drawingin which the arrangement of a device according with this invention is shownschematically byway of example: I i I Fig. 1 shows a diam'ctralfvertical'section and Fig. 2 a horizontal section. of the apparatus, the transmitting device proper, which may be of ,anyappr'OVed type having been omitted for clearness'sake;

-Figs. 3, 4, 5, 6 relateto particulars, in Fig. 1, 1indicatesa, gyroscope rotating about the axis 2 ;,,s'aidrgyroscopebeing suspended within. a frame -30 and this'latter being cardanicallysuspended withinfframes 11 and 11 The frame 1.1 is mounted frot'ata'bly on collars C and G which rotate upon suppogts, not shown in Fig. 1, fixed to the ship 0 v.

The frame 30, the axle 2 of which is constantly vertical owing to the gyroscope rota tion, carries two pivots 3 and 3 and about these latter a frame or ring 3 oscillates which is constantly maintained in the gyroscope rotation plane.

4 and 5 are two small metal rods fastened at the two opposite ends of a diameter of ring 3 and slightly touching with their free ends two spherical caps 6 and 7 supported by stirrups 8 and 9 the first of which swings around the horizontal pivots 10 fastened to the frame 11 and the second around the vertical axis 0 0 said caps forming as a whole, as shown in Fig. 1, approximately a spherical recess within which is mounted the gyro-scope.

The caps, made of insulating material, have their inner side lined with metallic contact surfaces 12, 13, 1 1, 15, respectively interrupted by two grooves 16 and 17 filled with insulating materials, the first horizontal and the second vertical.

Under normal conditions, that is to say when the ship is on an even keel, the aXis of pivot 2 coincides with the axis O 0 'of frame 11, rod 4 corresponds to groove 16 and rod 5 corresponds to groove 17 further groove 16 lies in the plane of rods 1 and and of ring 3 the pivots of said ring being kept horizontal by the gyroscope, and groove 17 lies in the plane of axle 2 and of rods 4 and 5.

The cap 6 which rotates about the horizontal pivots 10; is balanced by means of counterweights 18 which make easy its turning movement, and to the upper edge of cap 6 is fastened a toothed segment 20 meshing with a wheel 23 keyed to a shaft 33.

The shaft 33 passes through the collar G and carries a small arm 10 on which are loosely mounted the two bevel gears 1) revolving between the bevelled rims of a wheel. -A-- loose on collar C and of a wheel B loose on shaft 33. The wheel A has also a toothed peripheral rim in mesh with a wheel e11 mounted on the shaft 412 of an electric motor M To shaft 42 is also keyed a gear wheel 13 in mesh with a pinion at hereafter referred to.

To the collar C is keyed a gear wheel 34 in mesh with a wheel 15 keyed to the shaft 416, to which is also keyed a gear wheel 17 in mesh with the toothed peripheral rim of the wheel B.

It will be seen that when the collar C, and consequently the small shaft 46, the wheels 45, 47, B, are kept motionless, upon the operation of the motor M the wheel 1%. turns and then gear D rotates between wheel A and the stationary wheel 13 thus causingthe shaft 33 to rotate and conse quently the cap 6 to swing about its pivots 1.0.

Now the motor M is without current as long as the small rod 4: is situated in front of the groove 16. It will however turn in one or the other direction according to whether by means of the small rod 1 the current through the switch. S is sent from the one or the other of the metallic surfaces 12, 13 to which are attached the two conducting wires 24. and 25 connected also with said switch S The switch is so arranged that the direction of rotation of the motor M is such as to cause the cap 6 to swing in the direction required to bring the groove 16 again in the same plane as the small rod 4.

Similarly, the two metallic surfaces 14 and 15 of cap 7, by means of the two wires 26 and 27 terminating at switch S, are connected to a second electrical motor Motor M transmits its movement to the shaft 63 which carries the stirrup 9 which at its top has an eyelet to be able to freely swing about the collar C, a gear wheel 18 being keyed to the shaft 49 of motor M, and said wheel meshing with a pinion 50 and with the peripheral toothed rim of the wheel A, of adifferential A, B 1), similar to the differential A B 1). Moreover, upon the differential A, B, D acts another motor M to the shaft 51 of which'are keyed the two gear wheels 52 and 36; wheel 52 meshing with the toothed peripheral rim of the wheel B loose on shaft 63, and wheel 36 meshing with the wheel 35 keyed to the collar 0,.

Itwill be seen that when motor M and consequently collar (l and wheel 13,, are kept motionless, upon the operation of the motor M the wheel A, turns and then gear D rotates between wheel A, and the stationary wheel 13, and with its arm fastened on the'shaft 63 causes the latter and the stirrup 9 to rotate too.

Now motor M is without current as long as the small rod 5 is situated in front of the groove 17 but it will turn in one direction or the other according to whether by means of the small rod 5 the current through the switch S is sent to it from the one or from the other of the metallic surfaces 14 15 at which terminates the two wires 26, 27.

The switch S is so arranged that the direction of the motor rotation is such as to cause the cap 9 to rotate in the direction required to bring the groove 17 again in front of the point of the small rod 5. If,

on the contrary, the motor M and con- 1 sequently also the wheel A, are motionless, the following two effects will be produced upon the motor M being turned:

The wheel 52 causes the Wheel B to rotate and the latter, causing in its turn the gears D to revolve upon the stationary wheel A imparts rotation to the shaft and consequently to the stirrup 9.

On the'other hand, the wheel 36 by causing the rotation of the wheel 35, 'keyed to the collar C imparts the rotary movement to the frame 11 and consequently to the whole suspension of the gyroscope so that also the small red 5 will turn around the axis 0 O maintainin said red always in front of the grooi 'e 17.

However, should the shaft 33 connected with the motor M remain motionless during this rotation, this would causea rotation of the sector 20 and consequently an undesired oscillation of cap 6 which latter must be operated only by motor M Said undesired oscillation of the sector 20 is prevented by the shaft 46 and the Wheels 4547. Intact, the motor M being motionless, and the Wheel A being consequently stationary-,- upon a rotation of the fran'ie 11 together with the collar C, which forms a portion of tl'ie-latter, a rotation is im arted to wheel 34 and, through shaft 46, a'niov'ement equal to that of wheel-34 is transmitted to the wheel B, which causes the pinion D to revolve upon the motionless wheel Aso that also shaft 33 turns in such. a way" as to prevent the are 20 from rotating.

With this premise, be it assumed for simplicitys sake that the ship be on an even keel, and that the gun to be controlled be arranged with the horizontal axis in the vertical of its position of rest.

Under such conditions the frame 3 is dis posed horizontally and accordingly-also the two small rods 4 and 5, the first one in front of the grove 16 which lies in a horizontal plane too, and the second one in frontof the groove 17 which lies in'a vertical plane passing through the axis 0, 0 In that case, the shaft 2 of the gyroscope isvertic'aland its axis is in alignment with the axis of the two shafts 33-63.

The axis 0, O belonging in common to these three shafts, is parallel to the vertical axis of the range 'ofiic'ers telescope and it'is to be remarked that, whatever may be the movement of the ship, the axis 0 0 "which is integral with the latter, remains always parallel to that of the telescope, so thatthe angle of direction transmitted by the telescope is always exactly measured in respect of the axis 0 0,. The sinallrods 4, 5 are parallel to the axis of the gun and, in the aforesaid position of rest, to the optical axis of the horizontally disposed telescope. When the gyroscope is now set in motion, its rotatation plane owing to its being'horizontal maintains itself in this position, irrespective of the oscillation of'the ship.

Be it now supposed that it is necessary to give the gun a certain inclination. The firing master transmits the said angle by means of the motor M suspended below Within theframe 30 of the gyroscope. The motor M causes theframe "8 to rotateand the small rod 5 is lowered sliding always along the groove 17 whilst'the' small rod 4'is raised leavin the groove 16 and "coming into contact with the metallic surface 12. Thus the circuit of the motor M is ciosed through the Wire 24 and-the motor starts acting upon the differential A B D, in the Way described hereinbefore, in order to lift the cap 6'cau'sing the latter to swingabout the pivots 10 as far as to bring.the-groove I'G'ag-ain in front of the small rod'4.

It will be seen that the-cap thus swings about the same angle about which the small red 4 has moved, that is about theelevation angle of the gun, WhQIQUPOl'l the motor is stopped. During its operation the motor M by means of the wheel'43, drives also the it wheel 44 mounted upon the shaft of an or- "der transmitter 54 which thus transmits-to the gun the angle of elevation-assigned to it by the firing master.

Be it now assumed that the ship starts rolling and for greater-simplicitys"sake be it supposed thatthe movement takes place in the vertical plane-passing through the axis O and the groove 17 in otherwords that the gun be directed in a vertical plane perpendicular to the middle plane of the ship. During this movement the small rod 5 remains inoperative and the motor M remains motionless. The small rod 4, on the contrary, leaving the groove 16 comes into contact with the one or with the otherof the surfaces 12 and 13 and the motor M turns in one direction or in the other to bring, by means of thedifferent'i al A BD "the groove 16 again-in front of the small red 4 and by means of the wheel 44 causes the gun to rotate, in elevation, about an angle equal and contrary to that by-w'hich the ship has-heeled, so as tolreep fixed in space the direction of the gun.

Supposing now again that the ship be on an even keel and that the gun, with any elevation Whatever, shall be caused to swing about a certain angle of direction. The firing master transmits this angle by the aid of the inot'orjM whi'chby' acting upon the difierential A, B D in the manner described hereinbefore, While the motor M and consequently the wheel A, are motionless, by 'means of the wheel 35 causes the frame 11 to swing with the gyroscope suspended toit, and by means of the satellite pinion D causes to rotate shaft 63 carrying the stirrup 9. r

In th's'way the small rod 5 and the groove 17 turn and are kept the one in front of the other, so that motor M remains inoperative. The gun is connected with a motor (not shown in the drawing) similar to the motor M and serving to rotate the gun in direction by the same angle by which rotates the frame 11.

Since the vertical axis or the telescope is parallel to the axis 0 O whatever may be the inclination of the ship, it ensues that it the telescope is kept directed upon the target also the orientation of the frame 11 is kept correct.

Be it now supposed that the ship is rolling and pitching and that during these movements the small rod 5 leaves the groove 17 coming into contact with one of the metallic surfaces 14, 15. Then motor M will start turning and, as the wheel B is motionless, by means of the differential A, B, D, it will cause to rotate the shaft 63 and consequently swing the stirrup 9 as far as to bring the groove 17 again in front of the small rod 5.

On the other hand, by means ot the wheel a 50, it causes to rotate the shaft or' an order transmitter 55 which transmits to the gun movement in direction equal and contrary to that which it would perform through the action of the ship oscillation.

The movements of the two small rods have up till now been considered separately as being independent the one from the other. In practice the same oscillation may give rise to both of said movements. in this case as soon as the ship starts oscillating the small rods by leaving the grooves comeinto contact with the metallic surfaces of the caps 6 and '3' thus closing the circuits of the two motors and these are driven in t e direction required so that the rotary movement imparted by them to the caps be such as to bring the grooves again in front of the small rods and to interrupt the circuits, the caps thus: effecting each simultaneously to the other an angular movement equal and contrary to that effected by the ship, so that the gun always keeps in space the constant position necessary for firing.

The small rods carried by the gyroscope and the metal caps with the insulating groove, together with the motors, work substantially as one of those devices used for the method or distant control termed fol.- low-up-system, in which a movable piece, as the caps in the present instance, by being driven by a motor, revolves until it comes against a pointer which is also movable. In the present case the two small rods e: and 5 are kept in an invariable position by the gyroscope through the simple effect of the con tact of the pointer on either side, without requiring the least mechanical eiiort, which is performed, by the motor.

In order to afiord a complete understanding of the construction and operation of the apparatus, the following explanation may be added: a

The ring 3 extends over the ring 11, in the direction %5, and is shaped as shown in Figs. 3 and s; the recesses 3 allow the ring 3 to swing with respect to the ring 11 about a predetermined angle.

The ring 3 is electrically insulated with respect to the pivots 3 and 3 and with respect to the members transmitting to it the movement of the motor M A flexible wire 65 (Fig. 2) constantly connects the ring 3" with the pole of an electric power source not shown in the drawing, the pole of that source being connected to the switch S through the wire 66 and to the switch S through the Wire 67 (Fig. 1).

As shown in Figs. 3, a, the motor lizi transmits the movement to the ring 3 by means oi the pinion 68 keyed on the motor shaft and meshing with the wheel 69, a crank 70 being connected by the articulations Ti) and 70 to the ring 3 and to the wheel 69.

lhe main azimuthal movement of the device as a whole,.and consequently of the rods 4e5, is produced by the motor M but the contact serves to impart to the device correcting movements for stabilizing any ele ment in azimuth when the rotor of the gyro tends to spin in azimuth.

In Figs. 5 and 6, a, Z) and c, d are respectively plan views of the. cap 7, and the metallic surfaces 1 1- and 15; Z), 0 is the interrupting groovev l7 and 71 is the point where the rod 5 contacts with the cap. It will be seen that, when the ship is on an even hem,

the vertical axis O (connected to the ship), the axis 2 (constan ly kept vertical by the gyro) and the middle line m, n of groove 1? lie in a common vertical plane; in said conditions the axis of rotation 3-3 of ring 3 is perpendicular to said plane, and the contact line, upon which may oscillate the point of rod 5, coincides with m, 12.

Assuming now that the ship oscillates in such a way as to cause the axis O and consequently the groove 1) c to form the angle a with the contact line (constantly kept vertical by the gyro) it will be seen that the point of rod 5 will run upon the surfaces 14 or 15 along the contact line in, n, the co utact point resulting, for instance, displaced from 71 to 71. During thedisplacement of the contact point upon the surface 15 the current is sent to the switch S, by the wire 27 and the motor M rotates in the direction proper for interrupting the contact of rod 5 with the surface 15, that is to say, the motor M rotates, until the insulating groove senses in front or the contact point 71. it ohvious that during said movement the points of the groove will perform circular arcs like 7l71 perpendicular to the axis of rotation 0 -0 and upon the movement beii'ig stopped, the point 71" will be lifted in space of a quantity 2 '-'T'l; it ensues that the line joining the Garden centre with the central points of grooves 'l617 follows the movement of the ship, but is zuiton'iatically brought to coincide with the line joining the l 3 ii Cardan centre with the contacts 4 and 5 (which line with regard to the zenithal movements is independent from the movements of the ship) and 7l is in azimuth the correcting movement required owing to the zenithal movement 7171 and the inclination a of the ship.

I claim as my invention:

1. In combination with an unstable support, a device mounted thereon for individu ating and keeping fixed in space a direction determined by any two angles irrespective of the movements of the said unstable sup port, the said device comprising a rotatable suspension frame mounted on the said unstable support, a frame cardanically suspended in the said suspension frame, a gyroscope mounted and cardanically suspended in the said second frame, the axes of rotation of the said gyroscope and the said suspension frame being coincident and vertical when the said unstable support is in its position of rest, a third frame rotatably mounted in the said gyroscope frame and adapted to rotate about a diameter of the gyroscope ring, two diametrically opposite contact rods provided 011 the said third frame, a first spherical cap rotatable about said third frame and having a. metallic surface with an insulated groove provided therein in a horizontal diametral plane comprising the axis of rotation of the said third frame, a second spherical cap rotatable about the said gyroscope and having a metallic surface and an insulated groove provided therein in a vertical diametral plane comprising the axis of rotation of the said gyroscope, means for rotating the said suspension frame to thereby bring the vertical plane containing the said two contact rods into any desired orientation, means allowing the said third frame to swing about the horizontal rotation diameter to thereby give the line of the said contact rods any desired inclination upon the horizon, means causing the rotation of the said first and second spherical caps to thereby bring their insulated grooves again into register with the corresponding rods upon each motion of the said movable support, so that the axis of the suspension frame is no longer vertical and does no longer fall in alignment with the axis of rotation of the said gyroscope.

2. The combination with a gyroscope and a frame therefor, of a frame and two contact rods mounted rotatably around a diameter of the said gyroscope frame, a movable circle mounted rotatably around the rotation axis of the said gyroscope and carrying in its rotation the frame with the contact rods, a movable circle mounted rotatably around one of its diameters coinciding with one diameter of the gyroscope ring, caps with internal metallic surfaces provided with insulated grooves connected with the said movable circles, electric motors and gears driven by them arranged to rotate the movable circles; the said contact rods, the said metallic c-a-ps with the insulated grooves, the said electric motors and the said interposed gears being arranged to act as an electrical follow-upsysteni keeping the said rods always in correspondence with the grooves. In testimony whereof I have aflixed my witnesses,

signature in the presence of two this 8th day of April, 1920.

RICCARDO GIRARDELLI. \Vitnesses GIOVANNI GIRARDELLI, LETTERO LABRUGCETTO. 

